GIỚI THIỆU về hệ THỐNG điều KHIỂN tự ĐỘNG (cơ sở tự ĐỘNG SLIDE)

CHƯƠNG GIỚI THIỆU VỀ HỆ THỐNG ĐIỀU KHIỂN TỰ ĐỘNG 1769 • James Watt’s steam engine and governor developed The Watt steam engine is often used to mark the beginning of the Industrial Revolution in Great Britain During the Industrial Revolution, great strides were made in the development of mechanization, a technology preceding automation Control Systems Control • Control is a sequence of decisions aimed at the attainment of specified objectives in an environment of uncertainty and presence of disturbances Control system • A control system is an arrangement of physical components connected or related in such a manner as to command, direct, or regulate itself or another system Input • The input is the stimulus, excitation or command applied to a control system • Typically from external energy source, usually in order to produce a specified response from the control system Output • The output is the actual response obtained from a control system • It may or may not be equal to specified response implied by the input History of Automatic Control Step Control goal • Design a system to regulate the blood sugar concentration of a diabetic by controlled dispensing of insulin Control Systems Step Variable to be controlled • Blood glucose concentration Control Systems Step Control design specification • Provide a blood glucose level for the diabetic that closely approximates the glucose level of a healthy person Control Systems Step Preliminary system configurations Control Systems Disk drive read system Control Systems Control Systems Step Control goal • Design a system that will held the position the reader head to read the data stored on a track on the disk Control Systems Step Variable to be controlled • Position of the reader head Control Systems Step Control design specification • Design a system that will ensure that the head : - “flies” above the disk at a distance of less than 100 nm, - with the position accuracy is m, - with speed from track to track 50 ms Control Systems Step Preliminary system configuration Control Systems P1.8 Student-teacher learning process • Construct a feedback model of the learning process and identify each block of the system.  Control Systems P1.8 Student-teacher learning process Inverted pendulum control • E1.11 Sketch the block diagram of a feedback control system Identify the process, sensor, actuator, and controller The objective is keep the pendulum in the upright position ( = 0), in the presence of disturbances Control Systems Control Systems Inverted pendulum control